#pragma once

// 状态指令
const int Socket_Flag = 0x10a1;

// 机器人指令
const int CAMERA_CALIBRATION = 0x3101;
const int SEND_CAMERA_CALIBRATION = 0x31a1;

const int ROBOT_REAL_TIME_COORD = 0x3102;

const int ROBOT_RETURN_CORD = 0x31a2;
const int ROBOT_STOP_CORD = 0x3112;
// 仿射变换 计算
const int ROBOT_CAMERA_AFFINE = 0x3104;
// 测试仿射变换指令，接收相机坐标
const int CAMERA_TO_ROBOT = 0x3105;
// 仿射变换响应，返回机器人坐标
const int CalibrationRobotResponse = 0x31a2;

const int ROBOT_GRAB = 0x3107;
const int ROBOT_GRAB_STOP = 0x3117;

// 相机（显示，关闭）
const int CAMERA_OPEN = 0x4001;
const int CAMERA_CLOSE = 0x4011;
// 发送图像指令
const int IMAGE_SEND = 0x40b1;
// 设置相机长宽 偏移XY
const int CAMERA_WIDTH = 0x4101;
const int CAMERA_HEIGHT = 0x4102;
const int CAMERA_OFFSET_X = 0x4103;
const int CAMERA_OFFSET_Y = 0x4104;
// 灰度处理
const int GRAYSCALE = 0x5101;
// 二值化、参数
const int BINARIZATION = 0x5201;
const int BINARIZATION_PARAMETER = 0x52b1;
// 圆检测、参数
const int CIRCLE_DETECTION = 0x5401;
const int CIRCLE_DETECTION_PARAMETER = 0x54b1;
const int CIRCLE_DETECTION_ROI = 0x54c1;
// 矩形检测、参数
const int RECTANGLE_DETECTION = 0x5402;
const int RECTANGLE_DETECTION_PARAMETER = 0x54b2;
// 模板匹配（获取一帧图像，参数，发送参数列表，匹配，获取参数，获取ID，删除）
const int TEMPLATE_ONE_FRAME = 0x5501;
const int TEMPLATE_ONE_FRAME_RETURN = 0x55a1;
const int TEMPLATE_PARAMETER = 0x5502;
const int TEMPLATE_LIST_SEND = 0x5503;
const int TEMPLATE_MATCH = 0x5504;
const int TEMPLATE_GET_PARAMETER = 0x5505;
const int TEMPLATE_GET_ID = 0x5506;
const int TEMPLATE_DELETE = 0x5515;


const int PROCESS_TREE_FILE = 0x61b1;


// 参数配置
const int ParameterConfig = 0x9101;
const int ParameterConfig_Return = 0x91a1;

// 获取机器人坐标指令
const int Robot_Position_Command = 0x9512;
const int Robot_Position_Return = 0x9513;
const int Robot_Motion_Command = 0x9521;
